update GetBestPlannerAction

Author: naderzare

.gitignore

@@ -1,3 +1,4 @@
 .venv/
 scripts/proxy
-scripts/rcssserver
+scripts/rcssserver
+logs/

server.py

@@ -53,7 +53,7 @@ def GetPlayerActions(self, state: pb2.State):
                                                                                   simple_shoot=True,
                                                                                   simple_dribble=True,
                                                                                   cross=True,
-                                                                                  server_side_decision=True
+                                                                                  server_side_decision=False
                                                                                   )))
                 actions.append(pb2.PlayerAction(helios_shoot=pb2.HeliosShoot()))
             else:
@@ -64,13 +64,15 @@ def GetPlayerActions(self, state: pb2.State):
         self.logger.debug(f"Actions: {actions}")
         return pb2.PlayerActions(actions=actions)
 
-    def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest):
-        self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.register_response.uniform_number}")
-        pairs_list: list[int, pb2.RpcActionState] = [(k, v) for k, v in pairs.pairs.items()]
-        pairs_list.sort(key=lambda x: x[0])
-        best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x)
-        self.logger.debug(f"Best action: {best_action[0]} {best_action[1].action.description} to {best_action[1].action.target_unum} in ({round(best_action[1].action.target_point.x, 2)},{round(best_action[1].action.target_point.y, 2)}) e:{round(best_action[1].evaluation,2)}")
-        res = pb2.BestPlannerActionResponse(index=best_action[0])
+    def GetBestPlannerAction(self, request: pb2.BestPlannerActionRequest) -> int:
+        self.logger.debug(f"GetBestPlannerAction cycle:{request.state.world_model.cycle} pairs:{len(request.pairs)} unum:{request.state.register_response.uniform_number}")
+        best_index = max(request.pairs.items(), key=lambda x: x[1].evaluation)[0]
+        best_action = request.pairs[best_index].action
+        
+        while best_action.parent_index and best_action.parent_index > 0:
+            best_action = request.pairs[best_action.parent_index].action
+        
+        res = pb2.BestPlannerActionResponse(index=best_action.index)
         return res
 
     def GetCoachActions(self, state: pb2.State):

service_pb2.py

@@ -5,8 +5,10 @@
 
 import service_pb2 as service__pb2
 
-GRPC_GENERATED_VERSION = '1.67.0'
+GRPC_GENERATED_VERSION = '1.65.4'
 GRPC_VERSION = grpc.__version__
+EXPECTED_ERROR_RELEASE = '1.66.0'
+SCHEDULED_RELEASE_DATE = 'August 6, 2024'
 _version_not_supported = False
 
 try:
@@ -16,12 +18,15 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    raise RuntimeError(
+    warnings.warn(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in service_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
+        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
+        RuntimeWarning
     )